Device for mounting and orienting a workpiece

ABSTRACT

A grinding machine provides for the automatic aligning of the mean axis of an irregular surface of revolution on a workpiece to a machine axis and for indexing the aligned workpiece to a plurality of work-stations including first and second indexing tables for grinding planar surfaces and surfaces of revolution on the workpiece with respect to the mean axis.

United States Patent 1191 1111 3,826,047

Binder July 30, 1974 [54] DEVICE FOR MOUNTING AND ORIENTING 1,223,219 4/1917 Tichborne 51/227 R AWORKPIECE 3,381,347 5/1968 Reinwall 51/227 R X 7 3 3,456,398 7/1969 Gingrich 51/227 R Inventor: g g Max Bmder, lndlanapohs, 3,476,376 11/1969 .lacoby 51/227 R x Ind. 3,610,643 10/1971 Thompson 279/2 x [73] Assignee: RCA Corporation, New York, NY.

Primary Examiner-Al Lawrence Smith [22] filed: 1972 Assistant Examiner-Nicholas P. Godici [2]] Appl, No; 230,009 Attorney, Agent, or Firm-Edward J. Norton; William Squire [52] US. Cl 51/277, 51/281 R, 82/45,

269/321 T [57] ABSTRACT [51] Int. Cl B24b 1/00, B23b 25/06, B23q 3/14 58 Field of Search 51/227, 277, 237 R, 281; A grinding machine Provides for the automatic align- 279/2, 1 G 108, 1 J 1 L; 90/1; 269/48Jl49z ing of the mean axis of an irregular surface of revolumz s ggzgi 7 15 tron on a v lorkprece to a machine axis and for lndex- 44 mg the aligned workplece to a plurality of workstations including first and second indexing tables for grinding planar surfaces and surfaces of revolution on [56] References Cited UNITED STATES PATENTS the workpiece w1th respect to the mean axis.

835.320 11/1906 Pomeroy 51/237 R 35 Claims, 17 Drawing Figures m l J 237 J 222 PAIENIEMaomq SNEH 01 W13 mimanmowu sum manna ymmeumomn saw our '13 EAIENTEmaman sum row 13' 4 w H PILM 1 miminuaoma sum 'osnr13 m mmwwomu 3,826,047

. saw as .a: 13

DEVICE FOR MOUNTING AND ORIENTING -.MA.I!QKKRIEQE This invention relates to a grinding machine and more particularly to an apparatus for abrading planar and surfaces of revolution on a workpiece, the expression abrading including those machine processes which remove material by the use of friction.

In the grinding art it is usually the purpose of grinding to finish a workpiece to precise dimensional requirements. To that extent a workpiece to be ground is accurately located on one surface while a second surface is finished either with respect to the locating surface or to an imaginary axis such as provided in centerless grindmg.

With all such machines, usually, it is the object of the grinding machine to perform the grinding of a single dimensional characteristic such as an internal or external diameter or a single planar surface. In some cases a plurality of surfaces parallel or concentric with one another may also be ground on a single grinding machine to generate similar types of surfaces. However, a problem arises when a reference surface on the workpiece is insufficient for locating as well as securing the workpiece to the machine for performing the grinding operation. In this latter case, it is the usual practice to generate a second surface by which the piece part can be both located and clamped for generating the desired finished surface. In this later case the labor required is expensive requiring the services of a skilled operator ish the workpiece.

-sumuanior,riramviamron In accordance with the present invention, an apparatus is provided for orienting the mean axis of an irregular inner surface of a hollow workpiece to an apparatus axis. The apparatus includes means for orienting the workpiece so that the mean axis intersects the apparatus axis, and means for tilting the workpiece'so that the mean axis is substantially coincident with the apparatus axis and simultaneously axially displacing the workpiece to a plane normal to the apparatus axis and defined by rigid support members secured to the apparatus and positioned to abut the inner surface. As a result the mean axis of the irregular inner surface is located axially and transversely with respect to the machine axis permitting the machine to generate planar and surfaces of revolution with respect to that mean axis.

A feature of the machine constructed in accordance with the present invention is an indexable workhead mounted on a machine base, the above-described apparatus being mounted on the workhead whereby the workhead indexes the oriented workpiece to a workstation. An additional feature includes means for rotatably mounting the above-described apparatus on the workhead, the workhead including means for rotatably driving the oriented workpiece.

A further feature includes a second indexable workhead mounted on the machine base, the second workhead including workpiece support and clamping means secured thereto. Transfer means are mounted on the base for transferring the oriented workpiece from the first workhead to the second workhead. Additionally, a method of orienting the mean axis of an irregular inner surface of a hollow workpiece to a given axis is provided which includes orienting the workpiece so that the mean axis intersects the given axis, and tilting the workpiece so'that the mean axis is substantially coincident with the given axis and simultaneously axially displacing the workpiece to a plane normal to the given axis and defined by a plurality of rigid support members positioned to abut the inner surface.

IN THE DRAWINGS FIG. 1 is a partial plan view of the grinding machine according to the principles of the present invention,

FIG. 2 is a partial front elevational view of the machine along lines 2-2 of FIG. 1,

FIG. 3 is a partial fragmented side view of a portion of the machine along lines 33 of FIG. 1,

FIG. 4 is a front elevational view of a portion of the machine as observed in FIG. 3,

FIG. 5 is a plan view of the apparatus as shown in FIG. 4,

FIG. 6 is a cross sectional view of the clamp, align, locate and drive mechanism along lines 6-6 of FIG. 3,

FIG. 7 illustrates the relationship of the resilient and rigid support members of FIG. 6,

FIGS. 8a and 8b are side and plan sectional views of a workpiece illustrating typical distortion therein, FIG. 8b being taken along line 8b-8b of FIG. 8a,

FIG. 9 is a partially fragmented plan view along lines 9-9 of FIG. 2,

FIG. 10 is a partial front cross sectional view of a transfer mechanism taken generally along the lines 10-10 of FIG. 1 with the transfer arm swung around counterclockwise in the lowered position about to grasp a workpiece and lift it off its support apparatus,

FIG. 11 is a plan view of the apparatus of FIG. 10,

FIG. 12 is a front schematic elevational view of a control panel, and

FIGS. 13 through 16 are schematic views showing the electrical circuitry of the apparatus.

DESCRIPTION OF THE PREFERRED EMBODIMENT In describing the grinding machine of the present invention, the front of the machine will generally refer to the position at which an operator will be located for loading and unloading the machine, and for manipulating the operator controls. In FIGS. 1 and 2, grinding machine 10 includes a base 12 which encloses the various compressed air systems (not shown) and hydraulic systems (not shown), and which comprise conventional motor pump, sump and the necessary connections. A conventional coolant system is also provided (not shown) which is suitable for such grinding applications as provided in accordance with the present invention.

Mounted on base 12 is control panel 14 in front of which the operator stands. The operation of the control panel 14 will best be understood in conjunction with FIGS. 12 through 16 and in conjunction with the explanation of the operation of the machine. Rotatably mounted on base 12 is a first workhead 16 and second workhead 18. Slidably mounted on base 12 are wheelheads 20, 30, and 50. Also mounted on base 12 is workpiece transfer mechanism which serves to transfer the workpiece from workhead 16 to workhead 18. workhead 16 includes six workstations through disposed around the periphery of workhead 16 as shown in FIG. 1. workhead 18 has four workstations through 83 as also shown in FIG. 1.

Workhead 16 will now be described. Workhead 16 comprises an indexing table which is generally a circular flat metal plate mounted to an indexing head 92 which is secured to base 12. Indexing head 92 is a suitable Geneva mechanism or other indexing device for indexing table 90 so that workstations 70 through 75 are disposed as shown. Mounted on base 12 are gear boxes 94 and 95 which are suitably driven by dc. motor 93. Not shown is a conventional cam and switch assembly coupled to indexing head 92, which is driven in synchronism with workheads 16 and 18 and which will be further described with respect to FIGS. 1316.

Mounted at each of workstations 70 through 75 on table 90 are workpiece aligning and support nests 100. Nests will be later described in detail in conjunction with FIG. 6. At each of workstations 70 through 75 there is disposed one nest 100. Each nest serves to align and support a single workpiece to be operated on by Wheelheads 20, 30 and 40.

Secured to indexing table 90 and rotatable there with is superstructure assembly 120. Superstructure assembly includes workpiece align, support and drive assembly 160 and power interconnecting assembly 300 which will be best described in conjunction with FIGS. 3, 4, 5 and 9. superstructure assembly 120 is supported on table 90 by a plurality of strut supports 122 and a center post support 124. The upper portion of superstructure 120 is transversely retained by arm and post 126. Arm and post 126 is mounted on base 12 and overhangs the central portion of superstructure 120 depending downwardly at the center of the machine. Post 126 serves not only as a retainingpost for the superstructure, but also serves a a power conduit for both compressed air and electrical power supplied to various elements on the superstructure. Surrounding the superstructure is a sheet metal housing 128 which is suitably connected by means (not shown) to base 12. Disposed just below the indexing table 90 is a suitable coolant collecting pan 91.

workhead 18 is disposed adjacent to workhead 16 on base 12. workhead 18 includes a flat circular metal indexing table 130 which is rotatably mounted to indexing head 132 which in turn is mounted on base 12. Indexing head 132 includes a conventional Geneva mechanism or the like. This mchanism is rotatably coupled to the Geneva mechanism of indexing head 92 by linkage 134 so that table 130 indexes in synchronism with table 90. Mounted on table 130 at each of workstations 80 through 83 are workpiece clamp assemblies 136. Disposed in worktable 130 at each of the workstations is a suitable raised carbide workpiece locating insert 142. Disposed directly below clamp assemblies 136 at stations 83 and 80 are respective identical clamp release assemblies 146 and 147 mounted on base 12. Clamp release assembly 146 is disposed directly beneath workpiece clamp assembly 136 at station 83 and assembly 147 is disposed underneath workpiece clamp assembly 136 at station 80.

Not shown is a suitable master control panel housing the various relays and circuitry of grinding machine 10.

It is to be understood that certain of the machine elents have been omitted in each of the drawings for purposes of simplicity of explanation.

Clamp Assembly 136 and Clamp Release Assembly 146 Each of clamp assemblies 136 has a pair of elongated finger-like jaws 138 which pivot about pin 140 for securing a workpiece against insert 142. Jaws 138 are normally maintained in a downward or clamped position by a spring 144 mounted to abut in clamp assembly 136 and to exert a compressive force against the jaws 138. To release the piece part the jaws are forced against the spring 144 in the opposite direction by clamp release. assemblies 146 and 147. Since assemblies 146 and 147 are identical, only one will be described. Assembly 146 includes a support 148 mounted on base 12 and an air cylinder 150 mounted on the support and a jaw release lever 152 pivotally mounted to the shaft of air cylinder 150 and support 148 for driving jaws 138 away from table 130, releasing the clamped piece part. Thus the jaws of clamp assembly 136 are in only the clamp position in stations 81 and 82 and may be in either the clamped or unclamped position only in stations 80 and 83 in accordance with the release condition of assemblies 146 and 147.

Wheelheads Wheelheads 20 and 30 are substantially similar in construction and only one of them will therefore be described. Wheelhead 20 comprises motor 21 mounted on a base 22. Base 22 is slidably mounted on suitable rod and antifriction bearings on a second base 23 in a direction tangential to table 90. Base 23 is slidably mounted on a third base 24 which is mounted on machine base l2 and is slidable in a direction toward and away from indexing table 16 in a radial direction normal to the direction of movement of base 23. A combination air cylinder and hydraulic check valve 25 is mounted on base 24 and connected by way of the cylin; der 25 shaft to wheelhead 20 base 23, causing base 23 and motor 21 to transverse in the tangential direction when the cylinder is activated. Cylinder and valve 25 provide a rapid return of motor 21 toward cylinder and valve 25 by means of a purely air cylinder operation. In the opposite direction away from the air cylinder and valve 25, the combination of air and hydraulic operation is adjustably set by suitable means and provides a hydraulically controlled forward feed. Wheelhead 20 is disposed at workstation 72 when in the most forward position and is in the rest return position when disposed rearwardly.

To set the radial dimension of the piece part to be worked upon-by wheelhead 20, crank 26 is suitably connected to conventional adjustment means attached to base 24 for incrementally transversing base 24 toward and away from table 90 in the radial direction. Mounted to the shaft of motor 21 is disc-shaped diamond grinding wheel 27 which removes material by way of its face as shown.

Wheelhead 30 is constructed similarly as Wheelhead except that it is mounted displaced upwardly in the vertical direction with respect to Wheelhead 20. Wheelheads 20 and 30 are illustrated in FIG. 1 at the respective workstations 72 and 73.

Wheelhead 40 includes a motor 41 mounted on a support base 42 which is slidably mounted on a second support base 43. The longitudinal axis of the shaft of the motor is normal to base 12. Support base 43 in turn is slidably mounted by suitable rod and antifriction bearings on a third base 44 for transverse motion parallel to base 12 and which, in turn, is mounted on machine base 12. Suitable adjustment means are provided to adjust the position of motor 41 in the normal direction by means of hand crank 45. Connected to base 44 is combination air cylinder and hydraulic check valve 46 whose shaft is connected to base 43. Air cylinder and check valve 46 serves to hydraulically translate motor 41, support 42 and base 43 in the radial direction toward and away from station 74. The air cylinder portion of valve 46 provides rapid return to the outer rearward position and the hydraulic check valve provides adjustable control hydraulic feed of the assembly forwardly toward table 90.

Secured to support 42 is grinding wheel 47 which is rotatably mounted on a suitable shaft driven by a pulley which is belt-driven by a pulley connected to the rotating shaft of motor 41 as shown. Air cylinder and hydraulic check valve 46 drives base 43 in the radial direction toward and away from station 74 in the transverse direction parallel to base 12. The entire assembly comprising base 43, support 42, motor 41, pulley and belt assembly 48 and grinding wheel 47 transverse with respect to workhead 16 in the radial direction.

Wheelhead 50 comprises a motor 51 mounted on a base 52 which is slidably mounted on a second base 53. The shaft of motor 51 is normal to base 12 as shown. Motor 51 and base 52 are caused to incremently transverse in a normal direction with respect to base 12 by means of crank 54 in a conventional manner. The en tire assembly comprising motor 51, base 52 and base 53 are slidably mounted on base 55 by means of conventional rod and antifriction bearings for motion forwardly toward and rearwardly away from station 81. Base 55 is mounted on machine base 12. Mounted on base 55 is combination air cylinder and hydraulic check valve 56 which operates similarly as valves 46 and and whose shaft is connected to base 53. In this case the hydraulic system is adjusted to provide a controlled feed of base 53, support 52 and motor 51 in a radial direction forwardly toward workhead 18. The air cylinder provides rapid return of the assembly away from workhead l8. Rotatably mounted to motor 51 directly beneath the motor as best seen in FIG. 2 is grinding wheel 57. Advantageously all the grinding wheels are provided of the same material, size and discshaped configuration.

Looking from the rear of the motors toward the grinding wheels, all the grinding wheels rotate in a clockwise direction.

workpiece, Clamp, Align and Drive Assembly FIGS. 3, 4, 5, 6 and 7 show the details of the workpiece support, align and drive assembly 160. As best seen in FIG. 3, the upper portion of the workpiece align and drive assembly mounted in the superstructure portion 120 of the grinding machine is mounted on base plate 162 which is secured to hollow pipe center post 124 and support struts 122. An assembly 160 is disposed above a corresponding one of workstations through as shown in FIG. 1. Since there are six stations 70 through 75 on workhead 16, there are six assemblies 160.

Mounted on base plate 162 is a suitable workpiece drive motor 164. Plan orientation of motor 164 on plate 162 is best shown in FIG. 3. Gear reduction box 166 is connected to the front end of motor 164 and has spur gear 168 secured to the output shaft of gear reduction box 166.

As best seen in FIG. 4, also mounted on plate 162 is bearing box 170 which houses a set of bushings shown in phantom for slidably and rotationally engaging shaft 172. Shaft 172 is oriented normal to table and serves as both a ramrod for both aligning and clamping piece part 174 against nest and for also transmitting rotational power to the piece part for rotating the piece part on nest 100 in a manner to be explained. Secured to the lower end of shaft 172 is align and drivehead assembly 176. Rigidly secured to shaft 172 at the upper endis a locating collar 178 which serves as a stop for spur gear 180 which is slidably keyed to shaft 172 so that gear 180 is driven rotationally by shaft 172 but can slide axially on the shaft. The keyed arrangement between gear 180 and shaft 172 enables shaft 172 to be driven by gear 180 when this gear is rotatably engaged with gear 168 driven by motor 164. Also, rigidly secured to shaft 172 is a second collar 181. Disposed around shaft 172 between collar 181 and gear 180 in a spring 182. Spring 182 serves to resiliently load gear 180 against collar 178 enabling gear 180 to translate axially along shaftl72 toward collar 181. Collars 178 and 181, spring 182 and gear 178 are arranged to form a Bendix arrangement.

Shaft 172 is rotatably mounted in antifriction bearing 183 mounted in elongated flat connecting bar 184. At the same time bearing 183 is keyed to shaft 172 such that connecting bar 184 drives shaft 172 upwardly and downwardly normal to table 90. Thus when connecting bar 184 is caused to translate in the up and down direction, rotating shaft 172 is also caused to move in the same direction.

Mounted to gear box is support member 186 which supports air cylinder 188. Shaft 189 of air cylinder 188 is rigidly secured to connecting bar 184 to cause bar 184 to translate in accordance with the position of shaft 189.

To stabilize the transverse motions of shaft 172 about gear box 170 guide support member 190 is provided. Member 190 is secured to support member 186. A suitable bushing is mounted within member 190 and serves as a closely fitting guide for guide shaft 192 which is securely mounted to connecting bar 184 at an end of the bar opposite shaft 172. Thus any lateral vibration transmitted to shaft 172 by the coaction of gears and 168 is resisted by guide shaft 192 and guide member 190. FIG. 3 illustrates shaft 172 in its uppermost position while FIG. 4 illustrates shaft 172 in its most downward position clamped against piecepart 174 when the piece part is aligned, clamped and positioned for being rotatably driven by motor 164 by way of gears 168 and 170, shaft 172 and align and drivehead assembly 176. These two vertical positions are also illustrated in FIG. 2. v

Prior to discussing the details of FIGS. 6 and 7 a brief discussion will be made of the type and configuration of the workpiece which is preferably ground by a machine constructed or operated in accordance with the present invention.

FIG. 8a illustrates a section side elevation view of a typical workpiece 174 in which the dotted lines represent an actual distorted workpiece. The solid lines represent the workpiece after being processed by a machine constructed in accordance with the present invention. This workpiece is of the type formed of ferromagnetic material which is molded by conventional techniques into a generally truncated hollow conical configuration as used for deflection yokes in television receivers. This workpiece while being manufactured is subject, however to uneven stresses which distort the workpiece from its original molded configuration as well known in the art.

Generally workpiece portion 205 of the side wall, FIG. 8b, extending up to about one half around the periphery of the workpiece is distorted inwardly. The ideal axis of an undistorted workpiece'is illustrated by reference line 200 which it will be noted manifests the ideal axis of the undistorted workpiece portion 205a. The axis of the distorted workpiece portion 205 is manifested by reference line 203. Therefore the distorted workpiece has two axes viz, 200 and 203, which correspond to the undistorted 205a and distorted portions 205 of the workpiece, respectively. Mean axis 202 is a compromise between axes 200 and 203. The relative positions of axes 200, 202a and 203 are exaggerated in the drawing for purposes of illustration.

The purpose of the grinding machine constructed in accordance with the present invention is to automatically generate respective end surfaces 204 and 206 planar and normal to mean axis 202 and to generate surfaces of revolution 208 and 210 concentric about mean axis 202. In addition, it is the purpose of this machine to generate surfaces 204 and 206 respective distances 215 and 214 along axis 202 from a particular internal workpiece transverse diameter 212 of predetermined or known length, diameter 212 being substantially normal to axis 202 manifesting the average internal diameter of the workpiece at plane 207.

According to the invention, the workpiece is positioned to substantially precise position on the machine by aligning plane 207 with a machine reference plane. More particularly, as known from the geometry of a cone, any distance along the conical axis is related to a transverse diameter in a transverse plane of the cone. Thus the ends of a typical workpiece can be generated by the machine by locating a transverse reference plane on the workpiece with respect to a reference plane on the machine. The problem thus is to locate transverse plane 207 to a reference machine plane while aligning mean axis 202 to a machine axis for purposes of generating surfaces 204, 206, 208 and 210.

To accomplish this, the workpiece is presumed to be of a predetermined configuration. First, all workpieces have substantially the same configuration. Secondly, inner surface 201 of the workpiece at bracketed area 213 is an annular surface whosecenter substantially coincides with the intersection of axes 200, 202 and 203. Such a configuration of a workpiece to be processed according to the present invention is typically known and within the skills of the art.

Align and Support Nest and Align and Drive Head As best shown in FIGS. 6 and 7, align and support nest 100 and align and drive head assembly 176 are shown in detail. The apparatus of FIG. 6 serves to orient, locate, clamp and drive workpiece 174. First nest and 8b.

Nest 100 includes a generally cylindrical support housing 220 which is mounted with its longitudinal axis 222 substantially normal to indexing table 90 by means of flange 222 which is bolted to table 90 as shown.

Formed in housing 220 are annular bearing recesses 224 and 226 each having a bearing support shoulder and inner annular wall for housing a suitable antifriction ball bearing assembly such as ball bearings assemblies 228 and 230 respectively. The axis of rotation of ball bearing assemblies 228 and 230 are substantially concentric with axis 222 and normal to the plane of table 90. The outer race of the ball bearings is rigidly secured to housing 220 while the inner race is free to rotate about axis 222. Ball bearing assemblies 228 and 230 serve to absorb axial thrusts and radial loads from the inner race to the outer race. Ball bearing assemblies 228 and 230 are each respectively axially retained within respective corresponding recesses 224 and 226 by annular bearing retaining caps 232 and 234. Cap 232 is an annular plate which is bolted to housing 220 at the housing upper extremity and arranged to abut against the outer race of bearing assembly 228 with the inner race rotating within the hollow portion of cap 232.

Cap 234 is a generally cylindrical member having a flange which is bolted to the lower extremity of housing 220. Cap 234 abuts against the outer race of bearing assembly 230 permitting the inner race to rotate freely in the inner cavity of the cap.

Disposed in cavity 236 of housing 220 is cylindrical sleeve member 238 which abuts against inner race shoulder 237 of bearing 228 and shoulder 239 of the inner race of bearing 230 as shown for restraining axial movement of the inner race of bearing 230.

Rotatably nested within housing 220 closely fitted to the inner races of bearings 228 and 230 is stepped shaft portion 240 of nest head assembly 242. The lower end of shaft portion 240 is secured to plate 241 which abuts a shoulder of bearing 230 inner race. Plate 241 serves to retain shaft portion 240 from displacing in the axial direction. Head assembly 242 includes truncated conical head portion 244 which is secured at surface 245 to the other end of shaft 240. Rigidly mounted to head 244 are three substantially similar rigid support members 246 and three substantially similar resiliently mounted support members 248. Support members 246 each have a spherical carbide tipped exposed surface. Members 248 also have a carbide tipped spherical support surface.

Members 248 are resiliently supported by spring members having substantially the same spring constant.

Disposition of members 246 and 248 on head 244 is best shown in FIG. 7. In FIG. 7 support members 246 are disposed on the same horizontal bolt circle spaced 120 with respect to each other with the centroid of the spherical support surface falling generally on conical imaginary surface of revolution 249. Resilient support members 248 are disposed in a second horizontal bolt circle spaced 120 with respect to each other between member 246 with the centroid of the spherical support surface of the resilient buttons falling substantially on imaginary surface of revolution 249. Support members 248 are so mounted such that they will reciprocate only in a direction to and from the apex 250 of the imaginary surface of revolution 249, members 248 having only l of freedom. Imaginary surface of revolution 249 is arranged so as to be substantially normal to the inner surface 201 of the workpiece to be supported by members 246 and 248 at the point of contact with the workpiece.

Resilient members 248 are conventional steel plunger type devices which are threaded into support head 244. Members 246 are rod-like steel members which are fastened to steel head 244 by a screw or like device.

The resilient support plane defined by the intersection of the imaginary surface of revolution 249 with the support surface of members 248, is spaced radially away from apex 250 a distance X from the rigid support plane defined by the intersection of the imaginary surface of revolution 249 at the support surface of members 246.

Distance X is related to the amount of distortion in the workpiece as will be explained later. In accordance with the present invention, resilient members 248 permit workpiece 174 to be tilted substantially about the intersection of axes 200, 202 and 203 when the workpiece is disposed on head assembly 242. If resilient members 248 were not present and workpiece 174 were to sit on rigid members 246 directly, no tilting action of the workpiece 174 occurs due to the opposing normal forces present between the rigid members 246 and the workpiece in the direction of the tilt.

Connected to and extending above the truncated upper portion of head 244 is mandrel assembly 256 which is centered on axis 222. Mandrel 256 includes a hollow cylindrical drive and finger support member 258. Support member 258 is partially disposed in an annular recess formed in the upper truncated portion of head 244 and extends out of the recess.

Six elongated gripping fingers are pivotally mounted to pins 261 at the lower end of support member 258 as shown. Fingers 260 are disposed in a recess formed by member 258 and head 244 sufficiently spaced from members 258 and 244 in the transverse direction to permit fingers 260 to rotate toward and away from axis 222 about pivot pins 261. O-ring 262 or other suitable elastic member is secured around the outer surface of all the fingers as shown which are spaced. uniformly about member 258 to resiliently retain the fingers in a mandrel retracted position. Each of the fingers has a cam surface 264 which serves to drive the fingers radially outwardly from member 258 when contacted by cooperating cam member 276 on head 176.

Each of fingers 260 have a gripping head 266 for gripping annular inner surface 213 of the workpiece (FIG. 8a). When fingers 260 are caused to grip workpiece 174, mean axis 202 of workpiece 174 is oriented to substantially intersect axis 222 since the mandrel assembly 256 is centered about axis 222. The outer gripping surface of the gripping head 266 is preferably provided slightly convex to provide point contact on surface 213.

Mandrel assembly 256 is secured to head 244 by a bolt as shown. Cylindrical inner cavity 268 is provided member 258 to serve as a guide for align and drive head assenbly 176.

Assembly 176 is fastened to shaft 172 of the workpiece align and support and drive assembly 160. Threaded to shaft 172 at its lower extremity and centered about axis 222 is bushing 270. Bushing 270 has an outer cylindrical surface which slidably engages in the axial direction clamp align and drive sleeve 272. Sleeve 272 has an upper transverse flange 273 which abuts a mating shoulder on bushing 270. Threaded to shaft 172 at its lower end is guidepin 274. Pin 274 is disposed in cylindrical recess 275 formed in the lower portion of bushing 270 and formed by sleeve 272 which extends downwardly from bushing 270.

Closely and slidably secured to guidepin 274 is discshaped mandrel cam 276. Cam 276 has a chamfered cam surface 277 which cooperates with chamfered cam surface 264 on fingers 260 for rotating the fingers outwardly when cam 276 is axially displaced against fingers 260. Member 276 is slidably and resiliently mounted to guidepin 274 and retained by the slotted guidepin head. Cam 276 is disposed within recess 275. When shaft 172 is fully axially displaced against nest 100, cam member 276 is resiliently retained.

Sleeve 272 is resiliently coupled to shaft 172 in the axial direction by .way of annular member 278 which has four cylindrical recesses therein in which are respectively inserted four coil springs 280 which abut flange 273. Annular member 278 has a substantially rectangular cross section, is disposed between shoulder on shaft 172 and a shoulder on bushing 270 and is compressively retained in the axial direction by these two members. Axial force transmitted by shaft 172 is therefore transmitted to annular member 278. Springs 280 serve as shock absorbers for sleeve 272 when sleeve 272 is forced in the axial direction against workpiece 174.

A rubber washer 282 is suitably bonded to surface 284 of sleeve 272. Surface 284 serves as a drive ram for axially displacing and tilting workpiece 174 by way of workpiece surface 204 (FIG. 8a), is substantially planar and is disposed normal to axis 222. Rubber member 282 is suitably constructed to provide uniform contact with surface 204 when sleeve 272 is forced toward workpiece 174 in the downward position, surfaces 284 and 204 (unprocessed) being tilted with respect to each other during the grind operations. Further, rubber member 282 serves to provide high frictional connection between head 176 and workpiece 174 to rotationally drive workpiece 174 when shaft 172 is rotated by motor 164.

In orienting mean axis 202 (FIG. 8a) to align with machine axis 222, cam 276 is guided by pin 274 and guide hole 268 and first contact fingers 260. Fingers 260 grip the neck of the workpiece in a substantially transverse (horizontal) plane and center the workpiece about axis 222. However, as previously described, means axis 202 of inner surface 201 of the workpiece is substantially concentric with inner surface 201 at bracketed area 213 which is gripped by fingers 260 and thus, mean axis 202 intersects axis 222. At this time, axis 202 may be in a tilted orientation with respect to machine axis 222. If tilted, resiliently mounted members 248 provide unequal forces against 'workpiece 174. Axial translational displacement of member 282 against workpiece 1'74 applies a torque to workpiece 174 due to these unequal forces.

At the same time the workpiece is being tilted into alignment with axis 222, the workpiece is axially displaced along axis 222. This axial displacement continues until the workpiece inner surface 201 abuts at least one of rigid members 246. It is to be understood that when workpiece surface 201 is out of round, it is possible for only one of the rigid members 246 to contact inner surface .201. In this instance, according to the present invention, mean axis 202 of workpiece 174 is aligned with axis 222.

Rigid members 246 define a machine reference support plane by way of bolt circle 252, FIG. 7 and plane 252' of FIG. 6. Circle 252 is one whose radius extends normal to and outwardly from the axis of imaginary surface of revolution 249 to the workpiece contact point on members 246 which abut inner surface 201 of the workpiece. The transverse plane 252' defined by bolt circle 252 is the machine reference support plane which positions plane 207 in the axial direction. It has been found that a workpiece having the geometry described can be positioned on the machine so that diameter 212 in plane 207 is predictably aligned on the machine in each of a large plurality of like piece parts having dimensional variations typical for this type of workpiece. That is, plane 207 of FIG. 6 is predictably disposed with respect to plane 252 so that surfaces 204 and 206 of the workpiece (FIG. 8a) can be precisely generated by the machine with respect to plane 252, and, thus, plane 207. As shown in FIG. 6, plane 207 is disposed parallel to and axially spaced from plane 252'. The axial distance of plane 207 to plane 252' is determined by calibration from the initial workpiece processed by the machine. It is to be understood that the precision in positioning reference plane 207 of the workpiece with respect to bolt circle 252 (plane 252') of the machine is a function of complex relationships which include the geometry and variations from piece to piece of the workpiece, geometry of the support nest including the location of bolt circles 252 and 254 with respect to the workpiece and their spacing distance X, the type and amount of distortion in the workpiece, the rate of travel and applied forces of the align and drive head assembly, surface friction between members 246 and 248 and the workpiece and other factors all of which are generally related to the mechanics and kinematics of nest 100, head 176 and workpiece 174. Not withstanding the difficulty of determining these complex relationships, the design parameters for positioning the workpiece to the machine can be determined experimentally as will be apparent to those skilled in this art.

In an actual ferromagnetic workpiece processed according to the present invention, fixed members 246 define a bolt circle 252 (FIG. 7) suitably about 4 inches in diameter, the workpiece or core having suitably a 1% inch height, a surface 208 diameter of approximately 2 inches and a surface 210 diameter of approximately inches. During the alignment, the core is axially displaced downwardly approximately 0.045 inches and axis 202 is shifted by the tilting action 0.066 inches at surface 206 in a lateral direction about the intersection of axes 202 and 222, the core having an 0.135 inch out of round condition at surface 210. In this example, re-

silient support'members 248 are spaced distance X one-sixteenth of an inch and, therefore, will be displaced toward apex 250 (FIG. 7) approximately onesixteenth of an inch (distance 2: being a minimum onesixteenth of an inch). Internal diameter 212 is about 4 inches (FIG. 8a) and is axially spaced about 0.2 inches from surface 206 (distance 214).

Power Interconnecting Assembly Power interconnecting assembly 300 is best shown in FIGS. 3 and 9. Assembly 300 is located in superstructure and interconnects air and electrical power between the stationary portion of the machine as exemplified by post 126 to the rotating portion as exemplified by superstructure 120. As indicated previously, the entire superstructure rotates about the longitudinal axis of center post 124. Therefore, means must be provided to interconnect motors 164 and air cylinders 188 with a stationary supply in addition to means for controlling the timing and direction of their motions. The motions controlled are the up down action of air cylinder shaft 189 and rotation of gear 168.

Assembly 300 is supported by post 124 by way of annular support member 302 fitted around post 124. Support member 302 in turn supports assembly 300 base plate 304 which is suitably fastened to member 302. Member 302 includes a bearing recess 306 for housing suitable annular antifriction bearing 308 which is suitably retained against member 302. Secured to support arm and post 126 at the lower depending extremity thereof is armature and cam assembly 310. Closely fitted to post and arm assembly 126 is support member 312 of assembly 310. Support member 312 is a generally cylindrical member having an axial cavity and is closely fitted around the periphery of vertical cylindrical portion of post 126 as shown. Threaded to post 126 at the bottom of support member 312 is air valve assembly 314. Assembly 314 is a conventional device having a swivel elbow for supplying air by means of a slip ring configuration at a fixed inlet conduit 316 to outlet conduit 318 which rotates with superstructure 120. Inlet member 316, support member 312, and support arm and post 126 are stationary while annular support member 302, base plate 304 and outlet conduit 318 rotate about the longitudinal axis of center post 124.

The vertical portion of post 126 is a sealed cavity for carrying pressurized air to air valve assembly 314. Coupled to the vertical portion is an internal assembled conduit 320 which is connected at the other end (not shown) to suitable air pressure supply means. Thus pressurized air is supplied via conduit 320, post 126, member 312, inlet conduit 316 and rotating outlet conduit 318. Pressurized air from conduit 318 is supplied to air cylinder 188 as will be explained.

Electrically isolated from member 312 are a pair of annular armature rings mounted on armature assembly 322. Assembly 322 includes annular electrical conductive rings secured in electrical isolation to member 312 and appropriate electrical brushes asshown which permit transfer of electrical power from the stationary portion of the machine as exemplified by arm and post 126 to the rotating portion as exemplified by base 304 and base plate 162. Suitable electrical conductors (not shown) are coupled to the brushes of assembly 322 for connection to the various devices on the rotating portion of the machine. 

1. A work mounting device including an apparatus for orienting the mean axis of an irregular inner surface of revolution of a hollow workpiece to an apparatus axis comprising: a plurality of support members rigidly secured to said apparatus to define a workpiece support plane normal to said apparatus axis, said workpiece inner surface abutting at least one of said members when said workpiece is at said plane, means for initially orienting the workpiece so that said mean axis intersects said apparatus axis and said workpiece is spaced from said plane, and displacement means for tilting said workpiece so that said mean axis is substantially coincident with said apparatus axis and simultaneously axially displacing said workpiece to said plane.
 2. The device of claim 1 wherein said workpiece has an annular surface whose axis substantially coincides with said mean axis, said orienting means including annular gripping means whose axis coincides with said apparatus axis, said gripping means gripping said annular surface to orient said workpiece.
 3. The device of claim 2 wherein said gripping means is a mandrel whose gripping surfaces are spaced from said rigid support members.
 4. The device of claim 1 wherein said workpiece has a planar surface disposed at an angle to said mean axis, said tilting and displacing means including a planar reference pressure plate disposed normal to said apparatus axis and arranged to translate along said apparatus axis against said planar surface.
 5. The device of claim 4 wherein said orienting means includeS a mandrel and said tilting and displacing means includes a resiliently mounted mandrel operating cam and means for resiliently mounting said pressure plate.
 6. The device of claim 4 further including means for mounting said apparatus to rotate about said apparatus axis, said tilting and displacing means including means for rotating said apparatus.
 7. The device of claim 1 wherein said displacement means includes three support members resiliently secured to said apparatus for resiliently supporting said workpiece when said mean axis is oriented to intersect said apparatus axis.
 8. The device of claim 7 wherein said resilient members define a plane parallel to and spaced from said rigid support member plane.
 9. The device of claim 1 further including means for rotating said apparatus about said apparatus axis.
 10. The combination comprising: a rotatably mounted workpiece support body for supporting a hollow workpiece whose inner surface is an irregular surface of revolution, gripping means secured to said body for gripping the workpiece so as to orient the mean axis of said inner surface to intersect the axis of rotation of said body, a plurality of spaced support members rigidly secured to said body and arranged to define a workpiece support plane, said workpiece initially being spaced from said plane, and displacement means coupled to said body for tilting said workpiece so that said mean axis substantially coincides with said axis of rotation and simultaneously axially displacing said workpiece to said plane until at least one of said rigid members abuts said inner surface at said support plane.
 11. The combination of claim 10 wherein said displacement means includes a plurality of support members resiliently mounted and arranged to resiliently support said workpiece when said mean axis is oriented to intersect said axis of rotation.
 12. The combination of claim 11 wherein said resilient and rigidly mounted support members are mounted in the same imaginary surface of revolution.
 13. The combination of claim 12 where the imaginary surface of revolution is conical and said resiliently mounted members reciprocate only in a direction toward the apex of said conical surface of revolution.
 14. The combination of claim 13 wherein said irregular inner surface is substantially normal to said imaginary surface of revolution.
 15. The combination of claim 10 wherein said gripping means is an expanding mandrel arranged to grip an annular inner surface of said workpiece and whose center substantially coincides with said mean axis.
 16. The combination of claim 15 wherein said mandrel includes a plurality of pivotally mounted gripping fingers arranged in diametrically opposing pairs, each finger being capable of pivoting independently of the remaining fingers.
 17. The combination of claim 16 wherein said tilting and displacing means includes a mandrel expanding cam and a workpiece tilting and displacing ram.
 18. The combination of claim 17 wherein said cam and ram are independently and resiliently mounted.
 19. A method of orienting the mean axis of an irregular inner surface of a hollow workpiece to a given axis, comprising the steps of: orienting the workpiece so that said mean axis intersects said apparatus axis, and simultaneously tilting said workpiece so that said mean axis is substantially coincident with said given axis and axially displacing said workpiece to a plane normal to said given axis and defined by rigid support members positioned to abut said inner surface.
 20. The method of claim 19 wherein said tilting step includes the step of pushing against a surface of the workpiece that is disposed at an angle to said mean axis in a direction along said given axis.
 21. The method of claim 19 wherein said orienting step includes the steps of resiliently supporting said workpiece and centering a portion of the inner surface about said given axis.
 22. The combinAtion comprising: a rotatably mounted workpiece support body for supporting a hollow workpiece whose inner surface is an irregular surface of revolution, gripping means secured to said body for gripping the workpiece so as to orient the mean axis of said inner surface to intersect the axis of rotation of said body, a plurality of spaced support members rigidly secured to said body and arrangd to define a workpiece support plane, a plurality of support members resiliently mounted and arranged to resiliently support said workpiece when said mean axis is oriented to intersect said axis of rotation, said resilient and rigidly mounted support members being mounted in the same imaginary conical surface of revolution, said resiliently mounted members reciprocating in a direction only toward the apex of said conical surface of revolution, and means coupled to said body for tilting said workpiece so that said mean axis substantially coincides with said axis of rotation and simultaneously axially displacing said workpiece to said plane until at least one of said rigid members abuts said inner surface at said support plane.
 23. The combination of claim 22 wherein said irregular inner surface is substantially normal to said imaginary surface of revolution.
 24. The combination comprising: a rotatably mounted workpiece support body for supporting a hollow workpiece whose inner surface is an irregular surface of revolution, an expanding mandrel arranged to grip an annular inner surface of said workpiece and whose center substantially coincides with the workpiece inner surface mean axis to thereby orient said mean axis to intersect the axis of rotation of said body, a plurality of spaced support members rigidly secured to said body and arranged to define a workpiece support plane, and means coupled to said body for tilting said workpiece so that said mean axis substantially coincides with said axis of rotation and simultaneously axially displacing said workpiece to said plane until at least one of said rigid members abuts said inner surface at said support plane.
 25. The combination of claim 24 wherein said mandrel includes a plurality of pivotally mounted gripping fingers arranged in diametrically opposing pairs, each finger being capable of pivoting independently of the remaining fingers.
 26. The combination of claim 24 wherein said tilting and displacing means includes a mandrel expanding cam and a workpiece tilting and displacing ram.
 27. The combination of claim 26 wherein said cam and ram are independently and resiliently mounted.
 28. The combination comprising: a workpiece support body for supporting a hollow workpiece whose inner surface is an irregular surface of revolution, gripping means secured to said body for gripping the workpiece so as to orient the mean axis of said inner surface to intersect the axis of rotation of said body, a plurality of spaced support members rigidly secured to said body and arranged to define a workpiece support plane, said workpiece being initially spaced from said plane, a plurality of support members resiliently mounted and arranged to resiliently support said workpiece when said mean axis is oriented to intersect said axis of rotation, said resilient and rigidly mounted support members being mounted in the same imaginary surface of revolution, said resiliently mounted members resiliently reciprocating in a direction along said surface of revolution, and means coupled to said body for tilting said workpiece so that said mean axis substantially coincides with said axis of rotation and simultaneously axially displacing said workpiece to said plane until at least one of said rigid members abuts said inner surface at said support plane.
 29. In combination: a workpiece support body for supporting a hollow workpiece, a plurality of workpiece support members rigidly secured to said body for defining a rigid workpiece support plane, grIpping means secured to said body for aligning a portion of said workpiece to a given axis, a plurality of workpiece support members resiliently secured to said body for defining a resilient workpiece support plane disposed intermediate said rigid workpiece support plane and said gripping means, said resiliently secured members initially supporting said workpiece in a position spaced from said rigid workpiece support plane, and workpiece displacement means coupled to said body and arranged to displace said workpiece along said given axis to said rigid workpiece support plane.
 30. The combination of claim 29 wherein said rigidly secured members are rounded at said rigid workpiece support plane.
 31. The combination of claim 29 wherein said resiliently secured members are rounded at said resilient workpiece support plane.
 32. The combination of claim 31 wherein said resiliently secured members are arranged to reciprocate in an imaginary surface of revolution.
 33. The combination of claim 32 wherein said resiliently secured members reciprocate in a direction substantially normal to the surface of the workpiece contiguous therewith in said initial supporting position.
 34. The combination of claim 29 wherein said gripping means includes a mandrel and said displacement means includes a resiliently mounted mandrel operating cam.
 35. A work mounting device including an apparatus for orineting the means axis of an irregular inner surface of revolution of a hollow workpiece to an apparatus axis, said workpiece having a planar surface disposed at an angle to said mean axis, said apparatus comprising: a plurality of rigid support members secured to said apparatus to define a workpiece support plane normal to said apparatus axis, said workpiece inner surface abutting at least one of said members when said workpiece is at said plane, means for initially orienting the workpiece so that said mean axis intersects said apparatus axis and said workpiece is spaced from said plane, said orienting means including a mandrel, and tilting and displacing means for tilting said workpiece so that said mean axis is substantially coincident with said apparatus axis and simultaneously axially displacing said workpiece to said plane, said tilting and displacing means including a planar reference pressure plate disposed normal to said apparatus axis and arranged to translate along said apparatus axis against said planar surface, and further including a resiliently mounted mandrel operating cam and means for resiliently mounting said pressure plate. 